Seems pretty straightforward. The 'wavefront-expansion' algorithm does a breadth-first expansion from the goal node, to every other node. As this is done, the d

Seems pretty straightforward. The 'wavefront-expansion' algorithm does a breadth-first expansion from the goal node, to every other node. As this is done, the distance from each node examined, to the goal, is stored. Afterwards, in order to move towards the goal, an entity at a particular node, moves to its neighboring node that has the shortest distance to the goal.